System and method for controlling a stepper motor. A current position of the stepper motor may be received. A position error of the stepper motor may be determined using the current position of the stepper motor. A velocity profile may be maintained based on the position error, such that it tracks the position error. A position correction value may be determined based on the velocity profile, e.g., by integrating a portion of the velocity profile. A new position value may be generated to drive the stepper motor. An output position value to the stepper motor may be provided to drive the stepper motor. The output position value may incorporate the new position value and the position correction value and may be operable to reduce position error of the stepper motor.